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create new mag_bias_estimator module

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Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
bresch
2021-10-02 21:25:21 -04:00
committed by Daniel Agar
co-authored by Daniel Agar
parent d858835fd0
commit ec178c8745
13 changed files with 478 additions and 206 deletions
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src/lib/CMakeLists.txt
+1 -1
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@@ -45,12 +45,12 @@ add_subdirectory(controllib)
add_subdirectory(conversion)
add_subdirectory(crypto)
add_subdirectory(drivers)
add_subdirectory(field_sensor_bias_estimator)
add_subdirectory(geo)
add_subdirectory(hysteresis)
add_subdirectory(l1)
add_subdirectory(landing_slope)
add_subdirectory(led)
add_subdirectory(magnetometer_bias_estimator)
add_subdirectory(mathlib)
add_subdirectory(mixer)
add_subdirectory(mixer_module)
src/lib/magnetometer_bias_estimator/FieldSensorBiasEstimator/CMakeLists.txt → src/lib/field_sensor_bias_estimator/CMakeLists.txt
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src/lib/magnetometer_bias_estimator/FieldSensorBiasEstimator/FieldSensorBiasEstimator.hpp → src/lib/field_sensor_bias_estimator/FieldSensorBiasEstimator.hpp
+3 -4
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@@ -59,6 +59,7 @@ public:
// Set initial states
void setField(const matrix::Vector3f &field) { _field_prev = field; }
void setBias(const matrix::Vector3f &bias) { _state_bias = bias; }
void setLearningGain(float learning_gain) { _learning_gain = learning_gain; }
/**
* Update the estimator and extract updated biases.
@@ -70,7 +71,7 @@ public:
{
const matrix::Vector3f field_pred = _field_prev + (-gyro % (_field_prev - _state_bias)) * dt;
const matrix::Vector3f field_innov = field - field_pred;
_state_bias += GAIN_BIAS * (-gyro % field_innov);
_state_bias += _learning_gain * (-gyro % field_innov);
_field_prev = field;
}
@@ -78,10 +79,8 @@ public:
const matrix::Vector3f &getBias() { return _state_bias; }
private:
// gains
static constexpr float GAIN_BIAS = 100.f;
// states
matrix::Vector3f _field_prev{};
matrix::Vector3f _state_bias{};
float _learning_gain{20.f};
};
src/lib/magnetometer_bias_estimator/FieldSensorBiasEstimator/FieldSensorBiasEstimatorTest.cpp → src/lib/field_sensor_bias_estimator/FieldSensorBiasEstimatorTest.cpp
+7 -1
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@@ -31,14 +31,20 @@
*
****************************************************************************/
/**
* Test code for the Field Sensor Bias Estimator
* Run this test only using make tests TESTFILTER=FieldSensorBiasEstimator
*/
#include <gtest/gtest.h>
#include <FieldSensorBiasEstimator.hpp>
using namespace matrix;
TEST(MagnetometerBiasEstimatorTest, AllZeroCase)
TEST(MagnetometerBiasEstimatorTest, constantZRotation)
{
FieldSensorBiasEstimator field_sensor_bias_estimator;
field_sensor_bias_estimator.setLearningGain(100.f);
const Vector3f virtual_gyro = Vector3f(0.f, 0.f, 0.1f);
Vector3f virtual_unbiased_mag = Vector3f(0.9f, 0.f, 1.79f); // taken from SITL jmavsim initialization
const Vector3f virtual_bias(0.2f, -0.4f, 0.5f);
src/lib/magnetometer_bias_estimator/CMakeLists.txt
-43
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@@ -1,43 +0,0 @@
############################################################################
#
# Copyright (c) 2020 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_subdirectory(FieldSensorBiasEstimator)
px4_add_library(MagnetometerBiasEstimator
MagnetometerBiasEstimator.cpp
)
target_include_directories(MagnetometerBiasEstimator
PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}
)
target_link_libraries(MagnetometerBiasEstimator PUBLIC FieldSensorBiasEstimator)
src/lib/magnetometer_bias_estimator/MagnetometerBiasEstimator.cpp
-104
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@@ -1,104 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file MagnetometerBiasEstimator.cpp
*/
#include "MagnetometerBiasEstimator.hpp"
#include <px4_posix.h>
#include <drivers/drv_mag.h>
#include <mathlib/mathlib.h>
using namespace matrix;
using namespace time_literals;
MagnetometerBiasEstimator::MagnetometerBiasEstimator(const matrix::Dcmf &board_rotation) :
ModuleParams(nullptr),
_board_rotation(board_rotation)
{}
void MagnetometerBiasEstimator::extractBias(vehicle_magnetometer_s &mag_raw, const sensor_combined_s &gyro_raw)
{
// fill in vectors
Vector3f gyro(gyro_raw.gyro_rad);
Vector3f mag(mag_raw.magnetometer_ga);
// prepare delta time in seconds
hrt_abstime time_stamp_current = hrt_absolute_time();
float dt = math::min((time_stamp_current - _time_stamp_last_loop), hrt_abstime(500_ms)) / 1e6f;
_time_stamp_last_loop = time_stamp_current;
_field_sensor_bias_estimator.updateEstimate(gyro, mag, dt);
const Vector3f &bias = _field_sensor_bias_estimator.getBias();
// save the bias to the parameters to apply it given the right circumstances
const bool longer_than_10_sec = (time_stamp_current - _time_stamp_last_save) > hrt_abstime(10_s);
const bool bias_significant = bias.norm_squared() > (0.01f * 0.01f);
_actuator_armed_sub.update();
if (!_actuator_armed_sub.get().armed && bias_significant && longer_than_10_sec) {
saveBias(bias);
_time_stamp_last_save = time_stamp_current;
}
(mag - bias).copyTo(mag_raw.magnetometer_ga);
}
void MagnetometerBiasEstimator::saveBias(const matrix::Vector3f &bias)
{
// estimated bias is in body frame, but the driver needs sensor frame
const Vector3f transformed_bias = _board_rotation.transpose() * bias;
// get current calibration
updateParams();
Vector3f calibration_bias(_param_cal_mag0_xoff.get(),
_param_cal_mag0_yoff.get(),
_param_cal_mag0_zoff.get());
// estimated bias comes on top of existing calibration
calibration_bias += transformed_bias;
// save new calibration
_param_cal_mag0_xoff.set(calibration_bias(0));
_param_cal_mag0_yoff.set(calibration_bias(1));
_param_cal_mag0_zoff.set(calibration_bias(2));
_param_cal_mag0_xoff.commit();
_param_cal_mag0_yoff.commit();
_param_cal_mag0_zoff.commit();
// reset internal bias to zero because from now the driver will correct
_field_sensor_bias_estimator.setBias(Vector3f());
}
src/lib/magnetometer_bias_estimator/MagnetometerBiasEstimator.hpp
-86
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@@ -1,86 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file MagnetometerBiasEstimator.hpp
*
* Runs the FieldSensorBiasEstimator with PX4 magnetometer and gyroscope data and saves the result to the calibration parameters.
*
* @author Matthias Grob <maetugr@gmail.com>
*/
#pragma once
#include <matrix/matrix/math.hpp>
#include <lib/conversion/rotation.h>
#include <px4_module_params.h>
#include <drivers/drv_hrt.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/vehicle_magnetometer.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/actuator_armed.h>
#include <FieldSensorBiasEstimator.hpp>
class MagnetometerBiasEstimator : public ModuleParams
{
public:
MagnetometerBiasEstimator(const matrix::Dcmf &board_rotation);
~MagnetometerBiasEstimator() = default;
/**
* Update the estimator and extract updated magnetometer biases.
* @param mag_raw struct containing the magnetometer data to operate on (gets adjusted with current estimate)
* @param raw struct containing the gyroscope data to use
*/
void extractBias(vehicle_magnetometer_s &mag_raw, const sensor_combined_s &gyro_raw);
private:
void updateEstimate(const matrix::Vector3f &gyro, const matrix::Vector3f &mag, const float dt);
void saveBias(const matrix::Vector3f &bias);
FieldSensorBiasEstimator _field_sensor_bias_estimator{};
const matrix::Dcmf &_board_rotation;
hrt_abstime _time_stamp_last_loop{0};
hrt_abstime _time_stamp_last_save{0};
uORB::SubscriptionData<actuator_armed_s> _actuator_armed_sub{ORB_ID(actuator_armed)};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::CAL_MAG0_XOFF>) _param_cal_mag0_xoff,
(ParamFloat<px4::params::CAL_MAG0_YOFF>) _param_cal_mag0_yoff,
(ParamFloat<px4::params::CAL_MAG0_ZOFF>) _param_cal_mag0_zoff
)
};